CN111897361B - Unmanned aerial vehicle autonomous route planning method and system - Google Patents
Unmanned aerial vehicle autonomous route planning method and system Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/10—Simultaneous control of position or course in three dimensions
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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- Y02T10/10—Internal combustion engine [ICE] based vehicles
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Abstract
The application relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle autonomous route planning method and a system thereof, wherein the method comprises the following steps: s1: acquiring GPS coordinates of a take-off position, and establishing a reference two-dimensional plane coordinate system; s2: acquiring GPS coordinates of a target position, and generating a shortest path; s3: transmitting a laser detection signal to generate a third plane coordinate; s4: generating a first reference coordinate and a second reference coordinate; s5: generating a third reference coordinate and a fourth reference coordinate; s6: and generating a fifth reference coordinate and generating an autonomous path. The system comprises: the system comprises a laser emitting module, an optical receiving module, an information processing module, a coordinate system building module, a three-dimensional modeling module, a data calculating module, a comparison calculating module, a path planning module and a control module. The application has the effect that the unmanned aerial vehicle can independently plan the route according to the actual situation.
Description
Technical Field
The application relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle autonomous route planning method and system.
Background
The purpose is very wide in application in recent years. Compared with a common airplane, the unmanned aerial vehicle is light, flexible and high in maneuverability, does not need flight cost, and has increased adaptability in some cases, such as forest fire prevention monitoring, post-disaster rescue, overhead line inspection and the like.
When the unmanned aerial vehicle is in inspection, the unmanned aerial vehicle generally has a specified inspection starting point and a specified inspection end point, and the unmanned aerial vehicle moves from the starting point to the end point along a preset path.
Aiming at the correlation technique, the inventor considers that the unmanned aerial vehicle has the defect that the unmanned aerial vehicle cannot plan the route well according to the actual situation.
Disclosure of Invention
In order to enable an unmanned aerial vehicle to autonomously plan a route according to actual conditions, the application provides an unmanned aerial vehicle autonomous route planning method and a system thereof.
In a first aspect, the present application provides an unmanned aerial vehicle autonomous route planning method, which adopts the following technical scheme:
an unmanned aerial vehicle autonomous route planning method comprises the following steps: s1: acquiring GPS coordinates of a take-off position, establishing a reference two-dimensional plane coordinate system parallel to a horizontal plane by taking the take-off position as a zero position, and establishing conversion parameters from the GPS coordinate system to the reference two-dimensional plane coordinate system; s2: acquiring GPS coordinates of a target position, converting the GPS coordinates of the target position into first plane coordinates of a reference two-dimensional plane coordinate system according to conversion parameters, generating a shortest path on the reference two-dimensional plane coordinate system according to the zero position and the first plane coordinates of the target position, and setting second plane coordinates of a plurality of fixed point positions according to the shortest path; s3: transmitting a laser detection signal, receiving an echo signal, acquiring distance parameters, height parameters and shape parameters of an obstacle on a shortest path according to the echo signal, establishing a three-dimensional model of the obstacle by taking a plane in which a reference two-dimensional plane coordinate system is located as a datum plane, and acquiring a projection point of the three-dimensional model projected on the reference two-dimensional plane coordinate system as a third plane coordinate; s4: acquiring two points of second plane coordinates which are closest to the third plane coordinate along the flight sequence on the shortest path and are positioned outside a graph formed by the third plane coordinate, wherein the two points of second plane coordinates are a first reference coordinate and a second reference coordinate respectively; s5: acquiring a reference line which is perpendicular to the shortest path and is positioned on a reference two-dimensional plane coordinate system, acquiring a third plane coordinate distributed along the reference line, and acquiring two points of the third plane coordinate which are distributed along the reference line and are parallel to the reference line and have the farthest linear distance as a third reference coordinate and a fourth reference coordinate respectively; s6: and acquiring a coordinate of the third reference coordinate or the fourth reference coordinate which is spaced by a preset distance along the datum line direction as a fifth reference coordinate, replacing the first reference coordinate on the shortest path with the fifth reference coordinate to form an autonomous path, and taking the second reference coordinate as a next flight fixed point positioned on the fifth reference coordinate on the autonomous path.
Through adopting above-mentioned technical scheme, unmanned aerial vehicle is when patrolling and examining, discovers the barrier, can establish the three-dimensional model of barrier, and adjusts the shortest route according to the projection of three-dimensional model at reference two-dimensional plane coordinate system to form the route of autonomous path, be convenient for unmanned aerial vehicle avoid the barrier, this scheme has the effect that makes unmanned aerial vehicle can independently plan the route according to actual conditions.
Preferably, step S6 includes S61; s61: obtaining nearest linear distances from the first reference coordinate to the third reference coordinate and the fourth reference coordinate respectively, comparing the nearest linear distances from the first reference coordinate to the third reference coordinate with the nearest linear distances from the first reference coordinate to the fourth reference coordinate, taking the coordinate corresponding to the third reference coordinate or the fourth reference coordinate with the smaller nearest linear distance as a comparison coordinate, obtaining a coordinate which is separated from the comparison coordinate by a preset distance along the direction of the datum line to replace the original fifth reference coordinate, replacing the first reference coordinate with the fifth reference coordinate, and forming an autonomous path.
Through adopting above-mentioned technical scheme, have the inspection route that shortens unmanned aerial vehicle, be convenient for plan unmanned aerial vehicle's flight route's effect according to the actual conditions of barrier.
Preferably, step S6 further comprises S62; s62: and acquiring a second plane coordinate with the flight sequence positioned in front of the first reference coordinate as a sixth reference coordinate, acquiring a second plane coordinate with the flight sequence positioned behind the second reference coordinate as a seventh reference coordinate, and replacing a straight line path between the first reference coordinate and the second reference coordinate with a straight line path between the sixth reference coordinate and the fifth reference coordinate and a straight line path between the fifth reference coordinate and the seventh reference coordinate to form an autonomous path.
By adopting the technical scheme, the shortest route of the autonomous path is planned, so that the navigation route of the unmanned aerial vehicle is simplified, and the unmanned aerial vehicle is reduced to reach unnecessary patrol places.
Preferably, the method further comprises a step S7; s7: and acquiring the current flight height at a vertical distance relative to the zero position, comparing the current flight height with the obstacle height parameter to generate a distance value, and generating a flight ascending signal according to the distance value and a preset distance if the distance value is smaller than the autonomous path length between the fifth reference coordinate and the sixth reference coordinate to generate a cancel autonomous path signal.
Through adopting above-mentioned technical scheme, if unmanned aerial vehicle upwards stride across the distance of barrier be less than unmanned aerial vehicle and stride across the distance of barrier about, then control unmanned aerial vehicle and fly upwards to reduce unmanned aerial vehicle's unnecessary course.
Preferably, the method further comprises the step S6, and further comprises the steps S63 and S64; s63: generating a connecting line between a sixth reference coordinate and a fifth reference coordinate as a first position adjustment line, and if the third plane coordinate is positioned on the first position adjustment line, generating a first deviation rectifying coordinate positioned on the outer side of a graph formed by the third plane coordinate, wherein the autonomous path is from the sixth reference coordinate to the first deviation rectifying coordinate to the fifth reference coordinate; s64: generating a connecting line between the seventh reference coordinate and the fifth reference coordinate as a second position adjustment line, and if the third plane coordinate is positioned on the second position adjustment line, generating a second deviation rectifying coordinate positioned outside a graph formed by the third plane coordinate, wherein the autonomous path is from the seventh reference coordinate to the second deviation rectifying coordinate to the fifth reference coordinate.
By adopting the technical scheme, if the obstacle is between the connecting line of the sixth reference coordinate and the fifth reference coordinate or between the connecting line of the seventh reference coordinate and the fifth reference coordinate, the possibility that the unmanned aerial vehicle collides with the obstacle is reduced through the first deviation correcting coordinate and the second deviation correcting coordinate.
Preferably, S8 is also included; s8: and acquiring real-time GPS coordinates corresponding to the second plane coordinates, converting the second plane coordinates into check coordinates according to the conversion parameters, matching the GPS coordinates with the check coordinates to generate check values, and generating route check signals according to the check values.
By adopting the technical scheme, whether the route of the unmanned aerial vehicle deviates or not can be obtained by comparing the inspection coordinates with the real-time GPS coordinates, so that the effect of checking the route of the unmanned aerial vehicle is realized.
In a second aspect, the application provides an unmanned aerial vehicle autonomous route planning system, which adopts the following technical scheme:
an unmanned aerial vehicle autonomous airline planning system, comprising: the laser emission module is used for sending a laser detection signal; the optical receiving module is used for receiving echo signals generated when the laser detection signals encounter obstacles; the information processing module is used for acquiring echo signals and analyzing the echo signals to generate distance parameters, height parameters and shape parameters; the coordinate system establishing module is used for acquiring GPS coordinates of the take-off position and GPS coordinates of the target position, establishing a reference two-dimensional plane coordinate system according to the take-off position serving as the zero position, and generating conversion parameters of the GPS coordinate system and the reference two-dimensional plane coordinate system; the three-dimensional modeling module is used for acquiring the distance parameter, the height parameter and the shape parameter, and generating a three-dimensional model and a three-dimensional coordinate system by taking a plane where a reference two-dimensional plane coordinate system is located as a reference plane according to the distance parameter, the height parameter and the shape parameter; the data calculation module is used for acquiring the GPS coordinates of the target position and the conversion parameters, and generating a first plane coordinate in a reference two-dimensional plane coordinate system according to the conversion parameters; generating a shortest path in a reference two-dimensional plane coordinate system according to the zero point position and the first plane coordinate, and generating a second plane coordinate in the reference two-dimensional plane coordinate system according to the shortest path; generating a third plane coordinate according to the projection of the three-dimensional model on the reference two-dimensional plane coordinate system; generating a first reference coordinate and a second reference coordinate which are located on two sides of a third plane coordinate on the shortest path and are closest to the second plane coordinate; generating a reference line positioned in a reference two-dimensional plane coordinate system according to the shortest path, and generating two points with longest distance along the reference line direction of a third plane coordinate as a third reference coordinate and a fourth reference coordinate respectively; generating a fifth reference coordinate spaced apart from the third reference coordinate or the fourth reference coordinate by a predetermined distance along the reference line direction; generating a sixth reference coordinate located before the first reference coordinate along the flight sequence on the shortest path and a seventh reference coordinate located after the second reference coordinate; the comparison calculation module is used for obtaining the current flight height and the obstacle height parameter on the vertical distance relative to the zero position, generating a distance value according to the difference value between the current flight height and the maximum value of the obstacle height parameter, comparing the distance value with the autonomous path length between the fifth reference coordinate and the sixth reference coordinate, and generating a flight ascending signal according to the distance value and the preset distance if the distance value is smaller than the autonomous path length between the fifth reference coordinate and the sixth reference coordinate, and generating a cancel autonomous path signal; the path planning module acquires a fifth reference coordinate, and replaces the first reference coordinate of the shortest path with the fifth reference coordinate to generate an autonomous path; the control module is used for acquiring the shortest path and controlling the unmanned aerial vehicle to fly along the shortest path; acquiring an autonomous path, and controlling the unmanned aerial vehicle to fly along the autonomous path instead of the original shortest path; receiving a signal for canceling the autonomous path, and controlling the unmanned aerial vehicle to replace the original autonomous path to fly along the shortest path; and receiving the route checking signal and controlling the unmanned aerial vehicle to return.
Through adopting above-mentioned technical scheme, each module cooperation makes unmanned aerial vehicle when the flight meets the obstacle, can independently plan the route to reduce unmanned aerial vehicle and hit the condition of obstacle.
Preferably, the device further comprises a verification module; and the verification module is used for acquiring the real-time GPS coordinates corresponding to the second plane coordinates, converting the second plane coordinates into verification coordinates according to the conversion parameters, matching the real-time GPS coordinates with the verification coordinates, generating a verification value according to the matching result, and generating a route verification signal according to the verification value.
By adopting the technical scheme, whether the unmanned aerial vehicle has an offset route or not is obtained through the real-time GPS coordinates and the check coordinates.
In summary, the present application includes at least one of the following beneficial technical effects:
1. when the unmanned aerial vehicle is in inspection, a three-dimensional model of the obstacle can be established by finding the obstacle, and the shortest path is regulated according to the projection of the three-dimensional model on a reference two-dimensional plane coordinate system, so that a route of an autonomous path is formed, the unmanned aerial vehicle is convenient to avoid the obstacle, and the scheme has the effect that the unmanned aerial vehicle can autonomously plan the route according to actual conditions;
2. each module cooperation makes unmanned aerial vehicle when the flight meets the obstacle, can independently plan the route to reduce unmanned aerial vehicle and hit the condition of obstacle.
Drawings
Fig. 1 is a flow chart of a method for autonomous route planning for a unmanned aerial vehicle according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to fig. 1.
Referring to fig. 1, an embodiment of the application discloses an autonomous route planning method of an unmanned aerial vehicle, which comprises the following steps.
S1: and acquiring GPS coordinates of the take-off position, establishing a reference two-dimensional plane coordinate system parallel to the horizontal plane by taking the take-off position as a zero position, and establishing conversion parameters from the GPS coordinate system to the reference two-dimensional plane coordinate system.
Specifically, the ratio of the reference two-dimensional plane coordinate system to the actual size is 1:100, after the reference two-dimensional plane coordinate system is established, coordinates of any three points in the reference two-dimensional plane coordinate system are obtained, GPS coordinates of the three points are obtained, longitude and latitude coordinates of the three points are obtained through the GPS coordinates of the three points, the conversion coefficient from the reference two-dimensional plane coordinate system to a Gauss-Hog projection graph is calculated through the three points in the reference two-dimensional plane coordinate system and the corresponding longitude and latitude coordinates, the Gauss-Hog projection GPS coordinates are converted into 3-degree band coordinates, and therefore conversion parameters from the GPS coordinate system to the reference two-dimensional plane coordinate system are established.
S2: the GPS coordinates of the target position are obtained, the GPS coordinates of the target position are converted into first plane coordinates of a reference two-dimensional plane coordinate system according to the conversion parameters, shortest paths on the reference two-dimensional plane coordinate system are generated according to the zero point positions and the first plane coordinates of the target position, and second plane coordinates of a plurality of fixed point positions are set according to the shortest paths.
Specifically, the target position is the terminal point of unmanned aerial vehicle inspection, and the target position is located the first quadrant of reference two-dimensional plane coordinate system, and the shortest route is the straight line from zero point position to first plane coordinate on the reference two-dimensional plane coordinate system, fly along the shortest route at unmanned aerial vehicle, cruises, set up the second plane coordinate of fixed point position along interval 50 meters, be convenient for detect the unmanned aerial vehicle at interval 50 meters and reach predetermined fixed point position, in fact, still be equipped with operation terminal in the system, the operating personnel can be at operation terminal modification second plane coordinate's value, in order to modify the shortest route that the aircraft was flown, and the second plane coordinate sets gradually along unmanned aerial vehicle's flight order.
S3: transmitting a laser detection signal, receiving an echo signal, acquiring distance parameters, height parameters and shape parameters of an obstacle on a shortest path according to the echo signal, establishing a three-dimensional model of the obstacle by taking a plane where a reference two-dimensional plane coordinate system is located as a datum plane, and acquiring a projection point of the three-dimensional model projected on the reference two-dimensional plane coordinate system as a third plane coordinate.
Specifically, a laser transmitter is adopted to transmit a laser detection signal, an optical receiver is adopted to receive an echo signal, information such as a distance parameter, a height parameter, a shape parameter, an azimuth parameter and the like of an obstacle is obtained through calculation of a preset program, a three-dimensional model is built on a reference plane by three-dimensional modeling software through a plane where a reference two-dimensional plane coordinate system is located, a zero point of the three-dimensional coordinate system of the three-dimensional model is a zero point position, an x axis and a y axis of the three-dimensional coordinate system are overlapped with the x axis and the y axis of the reference two-dimensional plane coordinate system, a z axis of the three-dimensional coordinate system is perpendicular to the plane where the reference two-dimensional plane coordinate system is located, coordinates of points, in the reference two-dimensional plane coordinate system, of the three-dimensional model of the obstacle are mapped to the coordinates of the reference two-dimensional plane coordinate system through calculation of the preset program, and a third plane coordinate is formed, and the third plane coordinate is located in a first quadrant.
S4: and acquiring two second plane coordinates which are closest to the third plane coordinate along the flight sequence on the shortest path and are positioned outside the graph enclosed by the third plane coordinate, wherein the two second plane coordinates are a first reference coordinate and a second reference coordinate respectively.
Specifically, the reference two-dimensional plane coordinate system comprises an X axis and a Y axis which are perpendicular to each other, coordinates on the reference two-dimensional plane coordinate system are (X, Y), a third plane coordinate located on the shortest path is obtained, a second plane coordinate with an X value and a Y value smaller than the third plane coordinate is obtained and is a first comparison coordinate, a second plane coordinate with an X value and a Y value larger than the third plane coordinate is obtained and is a second comparison coordinate, a coordinate with a larger X value and a larger Y value in the first comparison coordinate is compared and is a first reference coordinate, and a coordinate with a smaller X value and a smaller Y value in the second comparison coordinate is compared and is a second reference coordinate.
S5: and acquiring a reference line which is perpendicular to the shortest path and is positioned on a reference two-dimensional plane coordinate system, acquiring a third plane coordinate distributed along the reference line, and acquiring two points of the third plane coordinate which are distributed along the reference line and are parallel to the reference line and have the farthest linear distance as a third reference coordinate and a fourth reference coordinate respectively.
Specifically, the reference line is a comparison straight line which has the same slope as the shortest path between the first reference coordinate and the second reference coordinate and passes through at least one third plane coordinate, the slope product of the slope of the reference two-dimensional plane coordinate system and the shortest path between the first reference coordinate and the second reference coordinate is-1, or one slope is 0, the other slope does not exist, the comparison straight line which has the same slope as the shortest path between the first reference coordinate and the second reference coordinate and passes through at least one third plane coordinate is generated, two points with the largest distance in points where the comparison straight line intersects the reference line are obtained according to operation, the third plane coordinate which the two points pass through is respectively the third reference coordinate and the fourth reference coordinate, and if a plurality of third reference coordinates and the fourth reference coordinate exist, the third reference coordinate and the fourth reference coordinate with the smallest x value are selected as the third reference coordinate and the fourth reference coordinate used for subsequent calculation and comparison.
S6: and acquiring a coordinate of the third reference coordinate or the fourth reference coordinate which is spaced by a preset distance along the datum line direction as a fifth reference coordinate, replacing the first reference coordinate on the shortest path with the fifth reference coordinate to form an autonomous path, and taking the second reference coordinate as a next flight fixed point positioned on the fifth reference coordinate on the autonomous path.
Specifically, the slope of the line between the fifth reference coordinate and the third reference coordinate or the fourth reference coordinate is equal to the slope of the datum line, the length between the fifth reference coordinate and the third reference coordinate is equal to a preset distance, the preset distance is the minimum distance between the fifth reference coordinate and an obstacle when the unmanned aerial vehicle flies, or the length between the fifth reference coordinate and the fourth reference coordinate is equal to the preset distance, the y value of the fifth reference coordinate is simultaneously larger than the third reference coordinate, the y value of the fourth reference coordinate or the y value of the fifth reference coordinate is simultaneously smaller than the third reference coordinate and the fourth reference coordinate, and the position of the fifth reference coordinate on the shortest path is replaced by the first reference coordinate to form an autonomous path.
S61: obtaining nearest linear distances from the first reference coordinate to the third reference coordinate and the fourth reference coordinate respectively, comparing the nearest linear distances from the first reference coordinate to the third reference coordinate with the nearest linear distances from the first reference coordinate to the fourth reference coordinate, taking the coordinate corresponding to the third reference coordinate or the fourth reference coordinate with the smaller nearest linear distance as a comparison coordinate, obtaining a coordinate which is separated from the comparison coordinate by a preset distance along the direction of the datum line to replace the original fifth reference coordinate, replacing the first reference coordinate with the fifth reference coordinate, and forming an autonomous path.
Specifically, calculating the lengths from the first reference coordinate to the third reference coordinate as a first length, calculating the lengths from the first reference coordinate to the fourth reference coordinate as a second length, comparing the first length with the second length, and if the first length is smaller than the second length, the third reference coordinate is a comparison coordinate; if the first length is greater than the second length, the fourth reference coordinate is a comparison coordinate; the length between the fifth reference coordinate and the reference coordinate is equal to the preset distance, the fifth reference coordinate is replaced with the first reference coordinate on the shortest path to form an autonomous path, and the second reference coordinate is used as the next flight fixed point on the autonomous path, which is located on the fifth reference coordinate.
S62: and acquiring a second plane coordinate with the flight sequence positioned in front of the first reference coordinate as a sixth reference coordinate, acquiring a second plane coordinate with the flight sequence positioned behind the second reference coordinate as a seventh reference coordinate, and replacing a straight line path between the first reference coordinate and the second reference coordinate with a straight line path between the sixth reference coordinate and the fifth reference coordinate and a straight line path between the fifth reference coordinate and the seventh reference coordinate to form an autonomous path.
S63: and generating a connecting line between the sixth reference coordinate and the fifth reference coordinate as a first position adjustment line, and if the third plane coordinate is positioned on the first position adjustment line, generating a first deviation rectifying coordinate positioned outside a graph formed by the third plane coordinate, wherein the autonomous path is from the sixth reference coordinate to the first deviation rectifying coordinate to the fifth reference coordinate.
Specifically, a first position adjustment line is established between a sixth reference coordinate and a fifth reference coordinate on a reference two-dimensional plane coordinate system, a function of the first position adjustment line is obtained, whether a third plane coordinate is on the first position adjustment line is calculated, and if so, a point with the largest y value in the third plane coordinate with the smallest x value on the first position adjustment line is obtained to be offset by a preset distance along the negative x-axis direction to be a first deviation correction coordinate.
S64: generating a connecting line between the seventh reference coordinate and the fifth reference coordinate as a second position adjustment line, and if the third plane coordinate is positioned on the second position adjustment line, generating a second deviation rectifying coordinate positioned outside a graph formed by the third plane coordinate, wherein the autonomous path is from the seventh reference coordinate to the second deviation rectifying coordinate to the fifth reference coordinate.
Specifically, a second position adjustment line is established between a seventh reference coordinate and a fifth reference coordinate on a reference two-dimensional plane coordinate system, a function of the second position adjustment line is obtained, whether a third plane coordinate is on the second position adjustment line is calculated, and if so, a point with the largest x value in the third plane coordinate with the largest y value on the second position adjustment line, which is offset by a preset distance along the positive x axis direction, is obtained as a second deviation correcting coordinate.
S7: and acquiring the current flight height at a vertical distance relative to the zero position, generating a distance value according to the current flight height, the obstacle height parameter and the preset distance, and generating a flight ascending signal according to the distance value and the preset distance if the distance value is smaller than the autonomous path length between the fifth reference coordinate and the sixth reference coordinate, so as to generate a cancel autonomous path signal.
Specifically, the height parameter is embodied as a z value of a three-dimensional model in a three-dimensional coordinate system, in this embodiment, a maximum point of the z value is selected, the current flight height is subtracted from the z value, and a predetermined distance is added to generate a distance value, so that an autonomous path cancellation signal is generated, and the unmanned aerial vehicle flies according to the original shortest path.
S8: and acquiring real-time GPS coordinates corresponding to the second plane coordinates, converting the second plane coordinates into check coordinates according to the conversion parameters, matching the GPS coordinates with the check coordinates to generate check values, and generating route check signals according to the check values.
Specifically, if the deviation between the longitude and latitude coordinates and the calibration coordinates in the real-time GPS coordinates is compared with a preset value, wherein the preset value is the deviation value determined according to the actual working condition, if the deviation is larger than the preset value, the unmanned aerial vehicle is proved to fly off the route, the unmanned aerial vehicle fails, inspection is stopped, a route calibration signal is generated at the same time, and the unmanned aerial vehicle is coupled with a led lamp which receives the route calibration signal and blinks.
In actual use, the actual route of the unmanned aerial vehicle should be recorded, so that the unmanned aerial vehicle can return according to the actual route when returning.
The embodiment also discloses an unmanned aerial vehicle autonomous route planning system, which is applicable to the unmanned aerial vehicle autonomous route planning method, and comprises the following steps:
the laser emission module is used for sending a laser detection signal;
specifically, a laser transmitter may be used.
The optical receiving module is used for receiving echo signals generated when the laser detection signals encounter obstacles;
in particular, it may be an optical receiver.
The information processing module is used for acquiring echo signals and analyzing the echo signals to generate distance parameters, height parameters and shape parameters;
the coordinate system establishing module is used for acquiring GPS coordinates of the take-off position and GPS coordinates of the target position, establishing a reference two-dimensional plane coordinate system according to the take-off position serving as the zero position, and generating conversion parameters of the GPS coordinate system and the reference two-dimensional plane coordinate system.
The three-dimensional modeling module is used for acquiring the distance parameter, the height parameter and the shape parameter, and generating a three-dimensional model and a three-dimensional coordinate system by taking the plane where the reference two-dimensional plane coordinate system is located as a datum plane according to the distance parameter, the height parameter and the shape parameter.
The data calculation module is used for acquiring the GPS coordinates of the target position and the conversion parameters, and generating a first plane coordinate in a reference two-dimensional plane coordinate system according to the conversion parameters; generating a shortest path in a reference two-dimensional plane coordinate system according to the zero point position and the first plane coordinate, and generating a second plane coordinate in the reference two-dimensional plane coordinate system according to the shortest path; generating a third plane coordinate according to the projection of the three-dimensional model on the reference two-dimensional plane coordinate system; generating a first reference coordinate and a second reference coordinate according to the coordinates of which the second plane coordinate is positioned at two sides of the third plane coordinate on the shortest path and the distance between the second plane coordinate and the third plane coordinate is nearest; generating a reference line positioned in a reference two-dimensional plane coordinate system according to the shortest path, and generating two points with longest distance along the reference line direction of a third plane coordinate as a third reference coordinate and a fourth reference coordinate respectively; generating a fifth reference coordinate spaced apart from the third reference coordinate or the fourth reference coordinate by a predetermined distance along the reference line direction; a sixth reference coordinate located along the shortest path in front of the first reference coordinate along the sequence of flight and a seventh reference coordinate located behind the second reference coordinate are generated.
The comparison calculation module is used for obtaining the current flight height and the obstacle height parameter on the vertical distance relative to the zero position, generating a distance value according to the difference value between the current flight height and the maximum value of the obstacle height parameter, comparing the distance value with the autonomous path length between the fifth reference coordinate and the sixth reference coordinate, and generating a flight ascending signal according to the distance value and the preset distance if the distance value is smaller than the autonomous path length between the fifth reference coordinate and the sixth reference coordinate, and generating a cancel autonomous path signal.
The path planning module acquires a fifth reference coordinate, and replaces the first reference coordinate of the shortest path with the fifth reference coordinate to generate an autonomous path; and receiving the signal for canceling the autonomous path, and deleting the autonomous path.
The control module is used for acquiring the shortest path and controlling the unmanned aerial vehicle to fly along the shortest path; acquiring an autonomous path, and controlling the unmanned aerial vehicle to fly along the autonomous path instead of the original shortest path; and receiving the signal for canceling the autonomous path, and controlling the unmanned aerial vehicle to replace the original autonomous path to fly along the shortest path.
And the verification module is used for acquiring the real-time GPS coordinates corresponding to the second plane coordinates, converting the second plane coordinates into verification coordinates according to the conversion parameters, matching the real-time GPS coordinates with the verification coordinates, generating a verification value according to the matching result, and generating a route verification signal according to the verification value.
The control module receives the route checking signal, controls led arranged on the unmanned aerial vehicle to flash, and controls the unmanned aerial vehicle to return to the voyage.
The above embodiments are not intended to limit the scope of the present application, so: all equivalent changes in structure, shape and principle of the application should be covered in the scope of protection of the application.
Claims (5)
1. An unmanned aerial vehicle autonomous route planning method is characterized by comprising the following steps:
s1: acquiring GPS coordinates of a take-off position, establishing a reference two-dimensional plane coordinate system parallel to a horizontal plane by taking the take-off position as a zero position, and establishing conversion parameters from the GPS coordinate system to the reference two-dimensional plane coordinate system;
s2: acquiring GPS coordinates of a target position, converting the GPS coordinates of the target position into first plane coordinates of a reference two-dimensional plane coordinate system according to conversion parameters, generating a shortest path on the reference two-dimensional plane coordinate system according to the zero position and the first plane coordinates of the target position, and setting second plane coordinates of a plurality of fixed point positions according to the shortest path;
s3: transmitting a laser detection signal, receiving an echo signal, acquiring distance parameters, height parameters and shape parameters of an obstacle on a shortest path according to the echo signal, establishing a three-dimensional model of the obstacle by taking a plane in which a reference two-dimensional plane coordinate system is located as a datum plane, and acquiring a projection point of the three-dimensional model projected on the reference two-dimensional plane coordinate system as a third plane coordinate;
s4: acquiring two points of second plane coordinates which are closest to the third plane coordinate along the flight sequence on the shortest path and are positioned outside a graph formed by the third plane coordinate, wherein the two points of second plane coordinates are a first reference coordinate and a second reference coordinate respectively;
s5: acquiring a reference line which is perpendicular to the shortest path and is positioned on a reference two-dimensional plane coordinate system, acquiring a third plane coordinate distributed along the reference line, and acquiring two points of the third plane coordinate which are distributed along the reference line and are parallel to the reference line and have the farthest linear distance as a third reference coordinate and a fourth reference coordinate respectively;
s6: acquiring a coordinate of a third reference coordinate or a fourth reference coordinate which is spaced by a preset distance along the direction of a datum line as a fifth reference coordinate, replacing the first reference coordinate on the shortest path with the fifth reference coordinate to form an autonomous path, and taking the second reference coordinate as a next flight fixed point positioned on the fifth reference coordinate on the autonomous path;
step S6 further includes S62;
s62: acquiring a second plane coordinate with the flight sequence positioned in front of the first reference coordinate as a sixth reference coordinate, acquiring a second plane coordinate with the flight sequence positioned behind the second reference coordinate as a seventh reference coordinate, and replacing a straight line path between the first reference coordinate and the second reference coordinate with a straight line path between the sixth reference coordinate and the fifth reference coordinate and a straight line path between the fifth reference coordinate and the seventh reference coordinate to form an autonomous path;
further comprising a step S7;
s7: acquiring the current flight height at a vertical distance relative to the zero position, comparing the current flight height with the obstacle height parameter to generate a distance value, and generating a flight ascending signal according to the distance value and a preset distance if the distance value is smaller than the autonomous path length between the fifth reference coordinate and the sixth reference coordinate to generate a cancel autonomous path signal;
the length between the fifth reference coordinate and the third reference coordinate is equal to a preset distance, and the preset distance is the minimum distance between the unmanned aerial vehicle and an obstacle when the unmanned aerial vehicle flies;
step S6 further includes S63, S64;
s63: generating a connecting line between a sixth reference coordinate and a fifth reference coordinate as a first position adjustment line, and if the third plane coordinate is positioned on the first position adjustment line, generating a first deviation rectifying coordinate positioned on the outer side of a graph formed by the third plane coordinate, wherein the autonomous path is from the sixth reference coordinate to the first deviation rectifying coordinate to the fifth reference coordinate;
s64: generating a connecting line between the seventh reference coordinate and the fifth reference coordinate as a second position adjustment line, and if the third plane coordinate is positioned on the second position adjustment line, generating a second deviation rectifying coordinate positioned outside a graph formed by the third plane coordinate, wherein the autonomous path is from the seventh reference coordinate to the second deviation rectifying coordinate to the fifth reference coordinate.
2. A method of autonomous unmanned aerial vehicle planning according to claim 1, wherein step S6 comprises S61;
s61: obtaining nearest linear distances from the first reference coordinate to the third reference coordinate and the fourth reference coordinate respectively, comparing the nearest linear distances from the first reference coordinate to the third reference coordinate with the nearest linear distances from the first reference coordinate to the fourth reference coordinate, taking the coordinate corresponding to the third reference coordinate or the fourth reference coordinate with the smaller nearest linear distance as a comparison coordinate, obtaining a coordinate which is separated from the comparison coordinate by a preset distance along the direction of the datum line to replace the original fifth reference coordinate, replacing the first reference coordinate with the fifth reference coordinate, and forming an autonomous path.
3. The unmanned aerial vehicle autonomous airline planning method of claim 1, further comprising S8;
s8: and acquiring real-time GPS coordinates corresponding to the second plane coordinates, converting the second plane coordinates into check coordinates according to the conversion parameters, matching the GPS coordinates with the check coordinates to generate check values, and generating route check signals according to the check values.
4. A unmanned autonomous navigational planning system for performing the unmanned autonomous navigational planning method according to any of claims 1 to 3, comprising:
the laser emission module is used for sending a laser detection signal;
the optical receiving module is used for receiving echo signals generated when the laser detection signals encounter obstacles;
the information processing module is used for acquiring echo signals and analyzing the echo signals to generate distance parameters, height parameters and shape parameters;
the coordinate system establishing module is used for acquiring GPS coordinates of the take-off position and GPS coordinates of the target position, establishing a reference two-dimensional plane coordinate system according to the take-off position serving as the zero position, and generating conversion parameters of the GPS coordinate system and the reference two-dimensional plane coordinate system;
the three-dimensional modeling module is used for acquiring the distance parameter, the height parameter and the shape parameter, and generating a three-dimensional model and a three-dimensional coordinate system by taking a plane where a reference two-dimensional plane coordinate system is located as a reference plane according to the distance parameter, the height parameter and the shape parameter;
the data calculation module is used for acquiring the GPS coordinates of the target position and the conversion parameters, and generating a first plane coordinate in a reference two-dimensional plane coordinate system according to the conversion parameters; generating a shortest path in a reference two-dimensional plane coordinate system according to the zero point position and the first plane coordinate, and generating a second plane coordinate in the reference two-dimensional plane coordinate system according to the shortest path; generating a third plane coordinate according to the projection of the three-dimensional model on the reference two-dimensional plane coordinate system; generating a first reference coordinate and a second reference coordinate which are located on two sides of a third plane coordinate on the shortest path and are closest to the second plane coordinate; generating a reference line positioned in a reference two-dimensional plane coordinate system according to the shortest path, and generating two points with longest distance along the reference line direction of a third plane coordinate as a third reference coordinate and a fourth reference coordinate respectively; generating a fifth reference coordinate spaced apart from the third reference coordinate or the fourth reference coordinate by a predetermined distance along the reference line direction; generating a sixth reference coordinate located before the first reference coordinate along the flight sequence on the shortest path and a seventh reference coordinate located after the second reference coordinate;
the comparison calculation module is used for obtaining the current flight height and the obstacle height parameter on the vertical distance relative to the zero position, generating a distance value according to the difference value between the current flight height and the maximum value of the obstacle height parameter, comparing the distance value with the autonomous path length between the fifth reference coordinate and the sixth reference coordinate, and generating a flight ascending signal according to the distance value and the preset distance if the distance value is smaller than the autonomous path length between the fifth reference coordinate and the sixth reference coordinate, and generating a cancel autonomous path signal;
the path planning module acquires a fifth reference coordinate, and replaces the first reference coordinate of the shortest path with the fifth reference coordinate to generate an autonomous path;
the control module is used for acquiring the shortest path and controlling the unmanned aerial vehicle to fly along the shortest path; acquiring an autonomous path, and controlling the unmanned aerial vehicle to fly along the autonomous path instead of the original shortest path; receiving a signal for canceling the autonomous path, and controlling the unmanned aerial vehicle to replace the original autonomous path to fly along the shortest path; and receiving the route checking signal and controlling the unmanned aerial vehicle to return.
5. The unmanned aerial vehicle autonomous airline planning system of claim 4, further comprising a verification module;
and the verification module is used for acquiring the real-time GPS coordinates corresponding to the second plane coordinates, converting the second plane coordinates into verification coordinates according to the conversion parameters, matching the real-time GPS coordinates with the verification coordinates, generating a verification value according to the matching result, and generating a route verification signal according to the verification value.
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Denomination of invention: A method and system for autonomous route planning of unmanned aerial vehicles Effective date of registration: 20231222 Granted publication date: 20230822 Pledgee: Societe Generale Bank Limited by Share Ltd. Guangzhou branch Pledgor: Guangzhou saihaoda Intelligent Technology Co.,Ltd. Registration number: Y2023980073611 |